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Flash saving. SD card work (for gruvin9x / ersky9x boards)

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This commit is contained in:
bsongis
2012-05-29 17:06:40 +00:00
parent a462949bc2
commit 249e6f2e63
12 changed files with 166 additions and 102 deletions
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src/open9x.cpp
+28 -9
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@@ -398,6 +398,8 @@ int16_t applyLimits(uint8_t channel, int32_t value)
return ofs;
}
int16_t calibratedStick[NUM_STICKS+NUM_POTS];
int16_t g_chans512[NUM_CHNOUT];
int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMain
#ifdef HELI
int16_t cyc_anas[3] = {0};
@@ -1326,20 +1328,19 @@ FORCEINLINE void evalTrims()
uint8_t phase = s_perout_flight_phase;
for (uint8_t i=0; i<NUM_STICKS; i++) {
// do trim -> throttle trim if applicable
// TODO avoid int32_t vv
int32_t vv = 2*RESX;
int16_t trim = getTrimValue(phase, i);
if (i==THR_STICK && g_model.thrTrim) {
if (g_eeGeneral.throttleReversed)
trim = -trim;
int16_t v = anas[i];
vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
int32_t vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
trim = vv;
}
else if (trimsCheckTimer > 0) {
trim = 0;
}
trims[i] = (vv==2*RESX) ? trim*2 : (int16_t)vv*2; // if throttle trim -> trim low end
trims[i] = trim*2;
}
}
@@ -1747,12 +1748,16 @@ void perOut()
if (tick10ms) {
int32_t rate = (int32_t)DEL_MULT*2048*100;
if(md->weight) rate /= abs(md->weight);
// TODO port optim er9x by Mike
act[i] = (diff>0) ? ((md->speedUp>0) ? act[i]+(rate)/((int16_t)100*md->speedUp) : (int32_t)v*DEL_MULT) :
((md->speedDown>0) ? act[i]-(rate)/((int16_t)100*md->speedDown) : (int32_t)v*DEL_MULT) ;
}
if(((diff>0) && (v<(act[i]/DEL_MULT))) || ((diff<0) && (v>(act[i]/DEL_MULT)))) act[i]=(int32_t)v*DEL_MULT; //deal with overflow
{
int32_t tmp = act[i]/DEL_MULT ;
if(((diff>0) && (v<tmp)) || ((diff<0) && (v>tmp))) act[i]=(int32_t)v*DEL_MULT; //deal with overflow
}
v = act[i]/DEL_MULT;
}
}
@@ -2563,6 +2568,20 @@ uint16_t stack_free()
int main(void)
{
// The WDT remains active after a WDT reset -- at maximum clock speed. So it's
// important to disable it before commencing with system initialisation (or
// we could put a bunch more wdt_reset()s in. But I don't like that approach
// during boot up.)
#if defined(PCBV4)
uint8_t mcusr_mirror = MCUSR; // save the WDT (etc) flags
MCUSR = 0; // must be zeroed before disabling the WDT
#elif defined(PCBSTD)
uint8_t mcusr_mirror = MCUCSR;
MCUCSR = 0;
#endif
wdt_disable();
board_init();
lcd_init();
@@ -2629,13 +2648,13 @@ int main(void)
#endif
#if defined(PCBV4)
if ((~MCUSR & (1 << WDRF)) && !g_eeGeneral.unexpectedShutdown)
if ((~mcusr_mirror & (1 << WDRF)) && !g_eeGeneral.unexpectedShutdown)
#elif defined(PCBSTD)
if (~MCUCSR & (1 << WDRF))
if (~mcusr_mirror & (1 << WDRF))
#else
if (!g_eeGeneral.unexpectedShutdown)
#endif
{
{
#ifdef SPLASH
#ifdef DSM2
// TODO rather use another Model Parameter